Spirit rover timeline

During the first month of operations, announcements of Mars Exploration Rover-A Spirit achievements were made at daily press briefings at the NASA Jet Propulsion Laboratory, usually held at 09:00 PST (12:00 EST, 17:00 UTC). The briefings typically discussed activities during the most recently completed sol (a Mars solar day; see below) and plans for the upcoming sol.

After the first month, as both Spirit and its partner rover MER-B Spirit were in regular operation, daily announcements were usually made in the form of a short release, issued shortly after the rover's latest workday was complete. Press conferences were still held but at a rate of about two per week.

The following chronology uses the dates of announcements. References to "this morning" or "tonight" are often in reference to JPL local time (PST).

Days on Mars are called sols and last 24 hours 39 minutes 35.244 seconds. The solar day on which Spirit landed is designated Sol 1. The local time of the event was in the early afternoon, or at 14:34 according to the LST-A timekeeping system used by the MER team. When referring to MER-B, however, Sol 1 means its landing date, which is offset 20.5 sols behind Sol 1 of MER-A.

File:03pd1898-s.jpg

Launch of Spirit

2003

• June 6 - June 8 - Two launch attempts cancelled due to weather conditions at Kennedy Space Center.
• June 8 - NASA announced that Mars Exploration Rover A will henceforth be known as "Spirit". Its companion probe MER-B will be known as "Opportunity". The names were selected by means of an essay contest open to American school children; the winning essay was submitted by Sofi Collis of Arizona.
• June 10 - Spirit was successfully launched aboard a Delta II rocket.

2004 January

• January 3-4 (Sol 1 ends 2004-01-04 14:15 UTC) JPL Images from 1/3/2004
  • 20:35 PST - MER-A landed in Gusev crater, however not exactly at its appointed landing spot within the crater (believed by scientists to once have been a crater lake). It later became apparent that the rover had landed six miles downrange from its planned landing site, but has landed in an area possibly even more favorable for the tests scientists want the rover to perform.
  • A few hours after landing, first photography is received via relay thgough Mars orbiter.[1] Three descent images showed its progress as it came down. [2].
• January 5 (Sol 2 ends 2004-01-05 14:55 UTC) JPL Images from 1/5/2004
  • The lander locks on its high-gain antenna and begins transmitting color photographs directly to Earth.
  • The first 3D Stereogram images are sent back from Spirit.
  • Four of five planned tests on scientific instruments on MER-A have been successful, the fifth instrument test is expected to occur later tonight. See Scientific instuments on the rovers.
• January 6 (Sol 3 ends 2004-01-06 15:35 UTC) JPL Images from 1/6/2004
  • 08:00 PST - U.S. President George W. Bush calls JPL to congratulate the MER team for a successful landing.
  • The first high resolution, full color image is received from Spirit. [3]
  • Throughout the day, a series of high quality color images were sent from Spirit to NASA. During a news conference about the day's events Steve Squyres, science chief of the MER mission said "This is just a tiny taste of what's to come", refering to the first color images coming back.
  • 12:15 PST - The MER team decides to name the specific spot that Spirit landed on within the Gusev Crater "Columbia Memorial Station", in honor of the seven astronauts killed in the disaster. [4]
• January 7 (Sol 4 ends 2004-01-07 16:14 UTC) JPL Images from 1/7/2004
  • 09:00 PST - Daily news briefing broadcast from JPL over NASA TV. A few new images are released, mainly polished versions of earlier images. Events from Sol 4 are reviewed, including a diagnostic test of a high gain antenna motor voltage spike (which occurred on Sol 2), which did not show any problems and was attributed to debris in the antenna machine housing. Airbag retraction was continued on Sol 4. Sol 5 activities are discussed, scientists and engineers on the MER team are anxious to get Spirit separated from its lander and moving around the martian surface.
  • A plot is released by JPL showing the "Dust Optical Depth" of the Gusev Crater and Meridiani Planum areas of Mars. The plot shows a measure of the amount of dust in the martian atmosphere as taken by instruments on the orbiting Mars Global Surveyor satellite. Recent dust storms in December and January on Mars have greatly increased the amount of dust in the atmosphere around Meridiani Planum, the expected landing site of MER-A's sister rover Opportunity, landing 1/24/2004. It is unknown at this point if this increased dust activity will hinder Opportunity's mission. [5]
• January 8 (Sol 5 ends 2004-01-08 16:54 UTC) JPL Images from 1/8/2004
  • 09:00 PST - Daily news briefing from JPL, apparently the activities to further retract the airbag under Spirit's lander were unsuccessful. On Sol 6 JPL engineers will try 6 rotations to try and force the partially deflated airbags fully under the lander. If this attempt fails, Spirit may have to turn itself around on the lander and attempt egress via another route.
  • Engineers will also begin Spirit's two step lifting process to "stand up" on the lander. Step 1 is to raise Spirit up on its back 4 wheels, and Step 2 is to deploy the currently retracted front wheels.
  • It is predicted that the airbag problem will delay Spirit's egress from the lander to January 14 or later. Currently the plan is to lift landing petal on the lander that Spirit is preparing travel down and attempt to tuck the excess airbag material under the petal. [6]
• January 9 (Sol 6 ends 2004-01-09 17:33 UTC) JPL Images from 1/9/2004
  • During the night of Sol 6 Spirit successfully completed parts one and two of the "stand up" operation and now has its front wheels deployed and is almost ready to egress. Parts three and four of the stand up operation will be executed tonight. [7]
  • Images of data from Spirit's Mini-TES were released [8]
  • Another attempt to pack the inflated airbags under the ramp petals of the lander failed. Now JPL engineers will attempt to turn the rover around while still on the lander and egress down one of the other ramps on the lander. This activity has been practiced before MER mission launch and is expected to work.
• January 10 (Sol 7 ends 2004-01-10 18:13 UTC) JPL Images from 1/10/2004
  • The Spirit Rover completed its stand up operation and is now standing with all six wheels deployed and locked, with one final connection between the lander and Spirit remaining.
• January 11 (Sol 8 ends 2004-01-11 18:52 UTC) JPL Images from 1/11/2004
  • At the conclusion of Sol 8 the Spirit Rover's science arm, which features tools for digging into and taking close up images of rocks, was moved from its stowed launch position to its forward "drive" position.
• January 12 (Sol 9 ends 2004-01-12 19:32 UTC) JPL Images from 1/12/2004
  • During Sol 9 the Spirit Rover performed science activities and returned data from the Pancam, completing the 360 panoramic image it took of its surroundings last week. Mini-TES data suggests more evidence that the Gusev site may have been a water filled lake.
  • Engineers plan the egress operation Spirit will begin on Sol 10 using a replica of the Spirit rover and lander. The tests go well, and no problems are expected.
• January 13 (Sol 10 ends 2004-01-13 20:12 UTC) JPL Images from 1/13/2004
  • Sol 10 activities included successfully cutting the last link between the Spirit rover and lander. The first 45 degree turn was successful and the rover is preparing for egress. On Earth, mission details for the rover's exploration of the martian surface are being planned now that it is known exactly where Spirit is within Gusev.
• January 14 (Sol 11 ends 2004-01-14 20:51 UTC)

File:Lander Pan Sol16-A18R1 br.jpg

Spirit's empty nest

• January 15 (Sol 12 ends 2004-01-15 21:31 UTC) Images from 1/15/2004
  • Spirit leaves the launch vehicle.
• January 16 (Sol 13 ends 2004-01-16 22:10 UTC)
  • A 3-D perspective image [9] is taken by the panoramic camera onboard the Mars Exploration Rover Spirit showing "Adirondack," the rover's first target rock.
• January 20 (Sol 16 ends 2004-01-20 00:09 UTC)Images from 1/20/2004
  • NASA Mars Rover?s First Soil Analysis Yields Surprises Among these surprises, is the detection of olivine, which does not survive weathering well.
• January 21 (Sol 17 ends 2004-01-21 00:49 UTC)
  • Spirit stops transmitting data and no longer responds to commands.
• January 22 (Sol 18 ends 2004-01-22 01:28 UTC)
  • The rover radioed a 7.8 bps beep Thursday morning confirming that it had received a transmission from Earth. The 7.8 bps indicates that the spacecraft believes it's in a fault mode. Still, it has not returned any data since early Wednesday. Flight-team engineers for NASA's Mars Exploration Rover Project are working to diagnose the cause of communications difficulties.
  • Project manager Pete Theisinger described the situation as "a very serious anomaly." He did say however that "If this problem on Spirit is somehow a software corruption issue, or memory corruption issue that's reflecting itself in software, and there's not a serious power fault, Spirit can go for quite a long time and we can pick up the pieces again."
  • Steve Squyres, the Cornell astronomy professor who heads the Mars mission's science team, said "It's cause for concern, certainly, but it's not cause for alarm. I've been in this business for almost 25 years now, and I've been involved in over a dozen different planetary missions. I don't know of a single one that hasn't had a problem like this somewhere along the line, and I include in that list missions like Voyager and Magellan that were spectacular successes. This kind of thing is part of the business of operating complicated spacecraft far from Earth." He continued stating that "This vehicle knows how to protect itself when something goes wrong, and can do so for long periods of time." He concluded saying "I'm very optimistic that we'll get this straightened out, and get back to the business of exploring Gusev crater."
  • The NASA team plans to instruct the craft to send back engineering data from Spirit's onboard memory (for diagnostic purposes) and possibly send commands to restore normal communication at around 6 a.m. EST tommorow.
  • On NASA Television, JPL Director Charles Elachi said "We are cautiously encouraged," and added "It is a pretty smart machine that we have up there and the key thing that we are going to do next is to communicate with it tomorrow morning and ask it to send us some data down so we can do a diagnostic of what's the problem"
• January 23 (Sol 19 ends 2004-01-23 02:08 UTC)
  • NASA's Spirit rover communicated with Earth in a signal detected by NASA's Deep Space Network antenna complex near Madrid, Spain, at 12:34 Universal Time (4:34 a.m. PST) this morning. The transmissions came during a communication window about 90 minutes after Spirit woke up for the morning on Mars. The signal lasted for 10 minutes at a data rate of 10 bits per second. Mission controllers at NASA's Jet Propulsion Laboratory, Pasadena, Calif., plan to send commands to Spirit seeking additional data from the spacecraft during the subsequent few hours. [10]
  • The flight team for NASA's Spirit received actual data from the rover in another communication session that began at 13:26 Universal Time (5:26 a.m. PST) and lasted 20 minutes at a data rate of 120 bits per second. [11]
  • Shortly before noon, controllers were surprised to receive a relay of data from Spirit via the Mars Odyssey orbiter. Spirit sent 73 megabits at a rate of 128 kilobits per second.
  • At a news briefing, Pete Theisinger said, "The software is in X-band fault mode. We surmise it got there because of some problem with the high-gain antenna pointing, and that is why the second high-gain antenna pass on Wednesday did not work. It gives us a little bit of a tale-tell for what is going on with the processor now. But as I pointed out to you, the flight software is not functioning normally. The two times we have gone and communicated with the system, we have gotten different flight software behaviors. Therefore we do not have assurance the next time we go and ask for it we will get either one of those two behaviors or perhaps a third behavior. " Later Theisinger said that the Spirit is in "critical condition" and stated that "We do not know to what extent we can restore functionality to the system because we don't know what's broke. We don't know what started this chain of events. I think, personally, that is a sequence of things. And we don't know, therefore, the consequences of that. I think it is difficult, at this very preliminary stage, to assume that we did not have some type of hardware event that caused this to start. Therefore, we don't know to what extent we can work around that hardware event and to what extent we can get the software to ignore that hardware event, if that is what we eventually have to do. "
  • An anomaly team has been formed, completely separate from the Opportunity team. They will be working a schedule that will look like 0500 Mars Time to about 1500 Mars Time.
  • At the press conference, Theisinger said that Spirit "has been in a processor reset loop of some type, mostly since Wednesday, we believe, where the processor wakes up, loads the flight software, uncovers a condition that would cause it to reset. But the processor doesn't do that immediately. It waits for a period of time - at the beginning of the day it waits for 15 minutes twice and then for the rest of the day it waits for an hour - and then it resets and comes back up." He added that Spirit's central computer has rebooted itself more than 60 times over the past two days. Theisinger also noted that "The indications we have on two occasions is that the thing that causes the reset is not always perceived to be the same."
  • At the press conference, two computer animations of Spirit's landing were released.[12], [13] Also released was an image of Spirit's landing site taken by the Mars Orbiter Camera on the Mars Global Surveyor. [14] [15]
• January 24 (Sol 20 ends 2004-01-24 02:48)
  • At a press conference which started at 3:00 EST, Theisinger says that the there is a problem with Spirit's flash memory and the software that writes to it. The Spirit is in crippled mode and can operate using RAM instead of flash. In this mode, the rover has obeyed commands about communicating and going into sleep mode. Spirit communicated successfully at 120 bits per second for nearly an hour.
  • "The rover has been upgraded from critical to serious," said project manager Pete Theisinger.
• January 25 (Sol 21 ends 2004-01-25 03:27 UTC)
  • At a press conference, Theisinger says that the NASA team been able to successfully run the first master sequence since the anomoly prevented the completion of a task on Wednesday. He adds that the team is moving towards regarding the situation as a "guarded condition" as opposed to the current "serious condition." He says that the flash hardware is in fact believed to be working correctly but the file management module in the software is "not robust enough" for the operations the Spirit was engaged in when the problem occurred, indicating a software bug, as opposed to faulty hardware.
• January 27 (Sol 23 ends 2004-01-27 04:46 UTC)
  • At today's 12:00 EST press conference, Jennifer Trosper explains the current situtation regarding Spirit: "First comm window of the day is happening as we speak. Not a lot of new data yet. Subsystems all nominal. Batteries are in good shape. No degradation from discharge a couple nights ago. Thermal working. Today our intent was to try to get a trace of the task causing the problem. We don't have that data yet. Maybe at a later comm today. We've done some analysis of data we already had on ground plus some testing in testbed. One data is the position of the HGA based on potentiometers. Rover doesn't rely on that, just for measurements. HGA was active when we started to get problems. We got info that in the mooring of sol 18 our comm dropped out 10 minutes early. As a result we attempted to command a HGA session. We saw nothing. It had a calibration where we move to hardstop and then track earth. Position now indicates that it only moved through calibration half way. Important because activity that started the reset was not in the HGA because it moved fully to the correct position after the reset problem. That's good news. The other information we got was a result of running tests in our avionics test environment. Loading up a bunch of files. Couldn't reproduce it fully. Got some key aspects of the problem. Looking forward to getting more data down. Continuing to dump out the flash memory, get that data down. Yesterday only about 18.5 megabits. Expect to get 80 megabits today."
• January 29 (Sol 25 ends 2004-01-29 06:05 UTC)

  

  Spirit's extended arm

  • NASA's Mars Exploration Rover Spirit took and returned this image on January 28, 2004 (Sol 25), the first picture from Spirit since problems with communications began a week earlier. The image from the rover's front hazard identification camera shows the robotic arm extended to the rock called Adirondack. As it had been instructed a week earlier, the Moessbauer spectrometer, an instrument for identifying the minerals in rocks and soils, is still placed against the rock. Engineers are working to restore Spirit to working order so that the rover can resume the scientific exploration of its landing area.

2004 February

• February 1 (Sol 28 ends 2004-02-01 08:04 UTC)
  • After intensive diagnostic work, the working hypothesis is that Spirit's problems were caused by the contents of the flash memory it uses for mission data storage causing Spirit to use all of its available RAM when mounting the flash memory. Work has commenced on fixing the problem.
• February 6 (Sol 33 ends 2004-02-06 11:22 UTC)
  • After further diagnostics, and some other problems with the flash memory, Spirit's flash memory used for mission file storage has been completely reformatted. This appears to have cured Spirit's problems. Scientific work has resumed. Spirit has used the brush from the RAT to remove dust from the surface of the "Adirondack" rock, and sent back pictures.
• February 8 (Sol 35 ends 2004-02-08 12:41 UTC)
  • Today the Spirit performed history's first grinding of a rock on Mars. The rock abrasion tool on NASA's Spirit rover ground off the surface of a patch 45.5 millimeters (1.8 inches) in diameter on Adirondack during Spirit's 34th sol on Mars, Feb. 6, 2004. The hole is 2.65 millimeters (0.1 inch) deep, exposing fresh interior material of the rock for close inspection with the rover's microscopic imager and two spectrometers on the robotic arm.

White Boat

• February 9 (Sol 36 ends 2004-02-09 13:21 UTC)
  • Spirit began moving again last night, passing over Adirondack and traveling 6.37 meters. The drive tested the rover's onboard navigation software and hazard avoidance system for the first time on Mars, which allow the rover to evaluate and navigate itself past obstacles. The drive, intended to test the traverse commands, was extremely precise, taking Spirit to its intended goal - the rock called White Boat. Later tonight commands will be sent to command the rover to move toward the small crater Bonneville. (In the coming sols, Spirit will continue its drive toward Bonneville Crater.) Before leaving the rock Adirondack, Spirit took images and collected miniature thermal emission spectrometer data from the hole ground by the rock abrasion tool.
• February 10 (Sol 37 ends 2004-02-10 14:01 UTC)
  • Waking up to Tina Turner's "Proud Mary," Spirit rolled through a record-breaking 21.2 (69.6 feet) meter drive. Today's distance traveled shattered the Sojourner rover's previous record of 7 meters (23 feet) in one sol.
• February 11
  • Spirit stayed parked on sol 38 (which ended 2004-02-11 14:40 UTC, or 06:40 PST) because cold temperatures prevented its high gain antenna from pointing to Earth and thus receiving the commands for the planned excursion. A gimbal motor which moves the antenna had been in shadow during the morning before the planned communication window. The problem was resolved later in the sol.
• February 12
  • During sol 39 (which ended 2004-02-12 15:20 UTC, or 07:20 PST), Spirit broke its own driving record. It adding 24.4 meters (80 feet) to its odometer while getting near an interesting set of rocks dubbed "Stone Council." The drive lasted 2 hours, 48 minutes. While navigating itself to avoid hazards, Spirit stopped when it recognized an obstacle, which was the group of rocks that was the day's intended destination.
  • The flight team at JPL chose Buster Poindexter's version of "Hit the Road Jack," as Spirit's wake-up music. The day's commands were uplinked during the cool morning hours via Spirit's low-gain antenna, to bypass a problem diagnosed the preceding day as shade slowing the warm-up of motors that move the high-gain antenna. Before rolling, Spirit took images with its microscopic imager and panoramic camera from the site where it started the day.
  • The plan for sol 40, which will end at 7:59 a.m. Friday, PST, is a short drive forward then using instruments on the robotic arm to study soil at Stone Council.
  • While Mars Express was flying over the area Spirit was examining, the orbiter transferred commands from Earth to the rover and relayed data from the robotic explorer back to Earth. This was the first in-orbit communication between ESA and NASA spacecraft, and also the first working international communications network around another planet. According to the announcement, this event took place on February 6.

• February 13
  • Spirit woke up to its 40th sol on Mars to the song "What a Wonderful World" by Louis Armstrong and then proceeded to have a wonderful sol which ended at 7:59 a.m. Friday, PST. After utilizing the miniature thermal emission spectrometer instrument on surrounding soil and completing some pre-drive imaging with the panoramic camera, Spirit proceeded 90 centimeters (2.95 feet) towards a collection of rocks called "Stone Council." The drive lasted less than five minutes. After completing the drive, Spirit imaged several rocks with the panoramic camera, and completed a mosaic of the area in front and to the left of itself.
  • On sol 41, which will end at 8:39 a.m. Saturday, PST, Spirit will be repositioned in front of the flaky rock called "Mimi" in preparation for placing its instrument deployment device on that rock during sol 42.

• February 14
  • On its 41st sol, which ended at 8:39 a.m. Saturday, PST, Spirit examined the crest and trough of a drift formation encountered on its journey, then moved to a nearby rock.
  • The rover used its microscopic imager, Moessbauer spectrometer and alpha particle X-ray spectrometer on the drift material. Then it backed up about 10 centimeters (4 inches), turned, and advanced about the same distance to be in position for thoroughly examining the flaky rock called "Mimi" during sol 42, which will end at 9:18 a.m. Sunday, PST.
  • Plans call for resuming long daily drives on sol 43 toward the crater nicknamed "Bonneville" on the northeastern horizon.
• February 15
  • Spirit used instruments on its robotic arm to examine an unusual-looking rock called "Mimi" during the rover's 42nd sol on Mars, which ended at 9:15 a.m. Sunday, PST. Scientists will be examining images and spectra to understand this rock's structure and composition and what those can tell about the environment in which the rock formed.
  • For sol 43, which will end at 9:58 a.m. Monday, PST, controllers have planned what they are calling a "mega drive": commanding a morning drive of about 25 meters (82 feet), then taking pictures of the scene ahead and letting the rover have a brief rest before using those mid-day pictures to guide an optional afternoon drive. Spirit is currently about 270 meters from the crater nicknamed "Bonneville," its mid-term destination.

File:PIA05329 modest.jpg

This map shows Spirit's travels since arriving on the red planet

• February 16
  • Spirit spent the wee morning hours of sol 43 gathering data about a wheel-track target with the Moessbauer spectrometer, then tucked its arm and drove. It used a two-session method engineers call a "mega drive" in order to make good progress toward the crater nicknamed "Bonneville." The first driving session covered 19 meters (62.3 feet) after long-running morning activities shortened the time for driving. After a rest, Spirit continued another 8.5 meters (27.9 feet) in the afternoon, resulting in a total drive of 27.5 meters (90.2 feet), a new one-sol record. Sol 43 ended at 9:58 a.m. Monday, PST. The remaining distance to "Bonneville" is about 245 meters (about 800 feet) from Spirit's new location.
  • For sol 44, which will end at 10:38 a.m. Tuesday, PST, controllers plan "touch-and-go" activities: deploying the arm on a target called "Ramp Flats" before continuing toward Bonneville.
• February 17
  • Spirit drove 21.6 meters (70.9 feet) on sol 44, bringing the rover's grand total to 108 meters (354 feet). That is about 6 meters (19.7 feet) more than the Sojourner mission record, set in 1997.
• February 18
  • Spirit began sol 45, which ended at 11:17 a.m. February 18, 2004 PST, at its previous target, Halo, by conducting analysis with the alpha particle x-ray spectrometer, microscopic imager and Moessbauer spectrometer. Spirit also took panoramic camera images and miniature thermal emission spectrometer observations before its arm was stowed for the northeast drive toward a circular depression dubbed Laguna Hollow.
  • The first 19 meters of the drive toward Laguna Hollow was commanded using go-to waypoint commands with the hazard avoidance system turned off. This mode - which was used for the first time this sol - provides automatic heading correction during a blind drive. Some fine-tuning toward the target brought the total drive for this sol to 22.7 meters (74.5 feet).
  • After reaching Laguna Hollow, Spirit "wiggled" its wheels to disturb or scuff the fine dust-like soil at this location, which allows for more detailed observations with the instruments on the robotic arm. After adjusting position to put the disturbed soil in reach of the arm, Spirit backed up and completed a miniature thermal emission spectrometer scan of the new work area. Before the sol ended, Spirit made one more adjustment, putting it in perfect position to analyze the scuffed area beginning on sol 46
  • The plan for sol 46, which will end at 11:57 a.m., February 19, 2004 PST, is to conduct observations on Laguna Hollow with the instruments on the robotic arm, including some higher resolution analysis that will involve an overnight tool change.
• February 20
  • On sol 47, ending at 12:36 p.m. February 20, 2004 PST, engineers woke Spirit up to the song "Dig Down Deep," by Hot Soup, and that's exactly what Spirit proceeded to do. The two-hour operation performed by Spirit's left front wheel resulted in a trench 7-8 centimeters deep (2.8 to 3.1 inches) that uncovers fresh soil and possibly ancient information.
  • Spirit dug this trench at "Laguna Hollow" the same way that Opportunity dug its 9-10 centimeter (3.5 to 3.9 inch) trench at Meridiani. However, because the ground at this location is harder, Spirit had to dig for twice as long as Opportunity - going back and forth over the surface 11 times instead of 6.
  • After the trench was completed, Spirit backed up one meter, or more than a yard, and analyzed the area with the miniature thermal emission spectrometer before driving forward 0.4 meters (15.7 inches) and imaging the excavation site with the panoramic camera. A final move forward of another 0.4 meters allowed Spirit to take front hazard avoidance camera images of the arm work volume which was then centered on the trench.
  • After stowing the arm, the rover did a series of miniature thermal emission spectrometer observations of several nearby rocks, "Buffalo," "Cherry," "Cotton," and "Jiminy Cricket," and a combined miniature thermal emission spectrometer and panoramic camera observation of "Beacon." Spirit also took panoramic camera images of its deck to observe dust accumulation on the instrumented solar cells and on the miniature thermal emission spectrometer calibration target.
  • Spirit then took a siesta from 2 p.m. to 3:45 p.m. Mars Local Solar time and woke up for some more panoramic camera and miniature thermal emission spectrometer observations of "Beacon," and miniature thermal emission spectrometer ground and sky stares. All activities up through the afternoon pass by the Mars Odyssey orbiter were completed successfully.
• February 21
  • On its 48th sol, ending at 1:16 p.m. Saturday, PST, Spirit maneuvered its robotic arm successfully within the challengingly tight confines of the trench that the rover had dug into the floor of "Laguna Hollow" the preceding sol.
  • Spirit used the microscopic imager on the arm to take pictures of details in the wall and floor of the trench during the morning. Then Spirit rotated the tool turret at the end of its arm and placed the Moessbauer spectrometer in position to read the mineral composition of the soil on the trench floor. That reading was designed to last about 12 hours, from mid-sol into the martian night. Spirit's panoramic camera and miniature thermal emission spectrometer were also used during the sol for studies of sky and rocks.
  • Spirit has been told to wake up and switch from the Moessbauer spectrometer to alpha particle X-ray spectrometer on the trench floor during the pre-dawn hours of the next sol. Later on sol 49 (which ends at 1:56 p.m. Sunday) and early on sol 50, plans call for using those spectrometers on the walls of the trench and making additional observations of the "Laguna Hollow" area. Then Spirit is slated to resume its trek toward the rim of the crater nicknamed "Bonneville," now estimated to be about 135 meters (443 feet) northeast of the rover's current location.